arXiv subjects

Xiangyang Li

Publications and source records attributed to Xiangyang Li.

At least 19 recordsLinked to original sources

arXiv2026

Physics-Informed Sliding-Window Particle Filtering for Tactile-Only In-Hand 6-DoF Object Pose Refinement

This paper studies tactile-only 6-DoF pose refinement and belief maintenance for grasped objects in static and short quasi-static in-hand configurations where vision is unavailable or heavily occluded. The key difficulty is tactile partial observability: whole-hand taxel contacts are sparse, intermittent, and ambiguous under limited excitation and object symmetries. We propose a physics-informed particle filter on $\mathrm{SE}(3)$ that updates pose beliefs from dense whole-hand tactile measurements. The likelihood combines active-contact signed-distance consistency, force-normal alignment, friction-cone feasibility, zero-force negative evidence, and optional feasibility guards. A sliding-window log-likelihood fuses recent tactile frames to reduce single-frame ambiguity, while a potential-field-guided proposal steers particles away from hand--object penetration. Symmetry-aware resampling preserves multiple plausible modes. Experiments on an Allegro Hand V5 with five objects show lower normalized ADD-S than tactile-only geometric, particle-filter, and learning baselines, and ablations confirm the benefits of temporal fusion, potential guidance, and mode preservation.

cs.RO↗

arXiv2026

AVOC: Enhancing Hour-Level Audio-Video Understanding in Omni-Modal LLMs via Retrieval-Inspired Token Compression

Multimodal Large Language Models have achieved remarkable progress in short-form audio-video understanding, yet long-form audio-video comprehension remains challenged by limited context windows and severe information redundancy. To address these bottlenecks, we propose AVOC, a framework for long-form audio-video understanding in Omni-modal Large Language Models. AVOC introduces a learnable token compression module between the modality encoders and the LLM backbone. We reframe multimodal token compression as a top-$K$ retrieval problem: given a fixed context budget, the module must retrieve a compact subset of tokens that best supports answering the user query. We draw inspiration from three classical Information Retrieval criteria for selecting informative units from a large candidate pool: relevance, importance, and diversity. AVOC instantiates each criterion as a tailored mechanism for audio-video understanding, and integrates them into a unified retrieval-style compression pipeline. Experiments show that AVOC achieves state-of-the-art performance on long-form audio-video benchmarks, surpassing the second-best model by 4.9 and 5.5 points in average accuracy on OmniVideoBench and LVOmniBench, respectively. Moreover, AVOC maintains robust performance on Audio-Video Needle-in-a-Haystack task at durations up to one hour.

cs.CL↗

arXiv2026

GA-VLN: Geometry-Aware BEV Representation for Efficient Vision-Language Navigation

Despite significant progress in Vision-Language Navigation (VLN), existing approaches still rely on dense RGB videos that produce excessive patch tokens and lack explicit spatial structure, resulting in substantial computational overhead and limited spatial reasoning. To address these issues, we introduce the Geometry-Aware BEV (GA-BEV) - a compact, 3D-grounded feature representation that integrates both explicit and implicit geometric cues into multimodal large language model (MLLM) - based navigation systems. We construct BEV spatial maps from RGB-D inputs by projecting visual features into 3D space and aggregating them into an agent-centric layout that preserves geometric consistency while reducing token redundancy. To further enrich geometric understanding, we incorporate features from a pretrained 3D foundation model into the BEV space, injecting structural priors learned from large-scale 3D reconstruction tasks. Together, these complementary cues - explicit depth-based projection and implicit learned priors - yield compact yet spatially expressive representations that substantially improve navigation efficiency and performance. Experiments show that our method achieves state-of-the-art results using only navigation data, without DAgger augmentation or mixed VQA training, demonstrating the robustness and data efficiency of the proposed GA-VLN framework.

cs.CV↗

arXiv2026

FATE: Future-State-Aware Scheduling for Heterogeneous LLM Workflows

Large language model (LLM) applications are increasingly executed as heterogeneous multi-stage workflows rather than isolated inference calls. In these workflow directed acyclic graphs (DAGs), scheduling decisions affect not only the currently ready stage, but also the execution state inherited by downstream stages, including model residency, parent-output locality, prefix reuse, and future device reachability. Existing serving and DAG-scheduling policies mainly optimize immediate queue state, placement cost, or reuse signals in isolation, which can fragment useful state and increase end-to-end latency. We present FATE, a future-state-aware scheduler for heterogeneous LLM workflows. FATE combines a CP-SAT-backed frontier planner, horizon-aware candidate scoring, bounded multi-device shard execution, and state-conditional cost estimation. Rather than solving a monolithic full-DAG problem, FATE repeatedly plans over the current ready frontier and scores assignments by both immediate cost and the downstream state they induce. Across real-DAG and controlled prefix-reuse benchmarks, FATE outperforms practical heuristics, classical DAG scheduling, and proxy adaptations of recent workflow-serving policies. On the real-DAG benchmark, it achieves normalized makespan and normalized P95 latency of 0.675 and 0.677, reducing them by 32.5% and 32.3% over RoundRobin and by 8.9% and 8.8% over the strongest non-FATE baseline. Mechanism analysis and ablations show that these gains arise from jointly preserving multiple dimensions of future execution state rather than prefix reuse alone. These results indicate that future-state preservation should be treated as a first-class scheduling objective for heterogeneous LLM workflow serving.

cs.DC↗

arXiv2026

ComPrivDet: Efficient Privacy Object Detection in Compressed Domains Through Inference Reuse

As the Internet of Things (IoT) becomes deeply embedded in daily life, users are increasingly concerned about privacy leakage, especially from video data. Since frame-by-frame protection in large-scale video analytics (e.g., smart communities) introduces significant latency, a more efficient solution is to selectively protect frames containing privacy objects (e.g., faces). Existing object detectors require fully decoded videos or per-frame processing in compressed videos, leading to decoding overhead or reduced accuracy. Therefore, we propose ComPrivDet, an efficient method for detecting privacy objects in compressed video by reusing I-frame inference results. By identifying the presence of new objects through compressed-domain cues, ComPrivDet either skips P- and B-frame detections or efficiently refines them with a lightweight detector. ComPrivDet maintains 99.75% accuracy in private face detection and 96.83% in private license plate detection while skipping over 80% of inferences. It averages 9.84% higher accuracy with 75.95% lower latency than existing compressed-domain detection methods.

cs.CV↗

arXiv2026

MSAO: Adaptive Modality Sparsity-Aware Offloading with Edge-Cloud Collaboration for Efficient Multimodal LLM Inference

Multimodal large language models (MLLMs) enable powerful cross-modal reasoning capabilities but impose substantial computational and latency burdens, posing critical challenges for deployment on resource-constrained edge devices. In this paper, we propose MSAO, an adaptive modality sparsity-aware offloading framework with edge-cloud collaboration for efficient MLLM Inference. First, a lightweight heterogeneous modality-aware via fine-grained sparsity module performs spatial-temporal-modal joint analysis to compute the Modality Activation Sparsity (MAS) metric, which quantifies the necessity of each modality with minimal computational overhead. Second, an adaptive speculative edge-cloud collaborative offloading mechanism dynamically schedules workloads between edge and cloud based on the derived MAS scores and real-time system states, leveraging confidence-guided speculative execution to hide communication latency. Extensive experiments on VQAv2 and MMBench benchmarks demonstrate that MSAO achieves a 30% reduction in end-to-end latency and 30%-65% decrease in resource overhead, while delivering a throughput improvement of 1.5x to 2.3x compared to traditional approaches, all without compromising competitive accuracy.

cs.DC↗

arXiv2026

R2E-VID: Two-Stage Robust Routing via Temporal Gating for Elastic Edge-Cloud Video Inference

With the rapid growth of large-scale video analytics applications, edge-cloud collaborative systems have become the dominant paradigm for real-time inference. However, existing approaches often fail to dynamically adapt to heterogeneous video content and fluctuating resource conditions, resulting in suboptimal routing efficiency and high computational costs. In this paper, we propose R2E-VID, a two-stage robust routing framework via temporal gating for elastic edge-cloud video inference. In the first stage, R2E-VID introduces a temporal gating mechanism that models the temporal consistency and motion dynamics of incoming video streams to predict the optimal routing pattern for each segment. This enables adaptive partitioning of inference workloads between edge and cloud nodes, achieving fine-grained spatiotemporal elasticity. In the second stage, a robust routing optimization module refines the allocation through multi-model adaptation, jointly minimizing inference delay and resource consumption under dynamic network and workload variations. Extensive experiments on public datasets demonstrate that R2E-VID achieves up to 60% reduction in overall cost compared to cloud-centric baselines, and delivers 35-45% lower delay while improving inference accuracy by 2-7% over state-of-the-art edge-cloud solutions.

cs.NI↗

arXiv2026

QCL-IDS: Quantum Continual Learning for Intrusion Detection with Fidelity-Anchored Stability and Generative Replay

Continual intrusion detection must absorb newly emerging attack stages while retaining legacy detection capability under strict operational constraints, including bounded compute and qubit budgets and privacy rules that preclude long-term storage of raw telemetry. We propose QCL-IDS, a quantum-centric continual-learning framework that co-designs stability and privacy-governed rehearsal for NISQ-era pipelines. Its core component, Q-FISH (Quantum Fisher Anchors), enforces retention using a compact anchor coreset through (i) sensitivity-weighted parameter constraints and (ii) a fidelity-based functional anchoring term that directly limits decision drift on representative historical traffic. To regain plasticity without retaining sensitive flows, QCL-IDS further introduces privacy-preserved quantum generative replay (QGR) via frozen, task-conditioned generator snapshots that synthesize bounded rehearsal samples. Across a three-stage attack stream on UNSW-NB15 and CICIDS2017, QCL-IDS consistently attains the best retention-adaptation trade-off: the gradient-anchor configuration achieves mean Attack-F1 = 0.941 with forgetting = 0.005 on UNSW-NB15 and mean Attack-F1 = 0.944 with forgetting = 0.004 on CICIDS2017, versus 0.800/0.138 and 0.803/0.128 for sequential fine-tuning, respectively.

quant-ph↗

arXiv2026

Exploring Recommender System Evaluation: A Multi-Modal User Agent Framework for A/B Testing

In recommender systems, online A/B testing is a crucial method for evaluating the performance of different models. However, conducting online A/B testing often presents significant challenges, including substantial economic costs, user experience degradation, and considerable time requirements. With the Large Language Models' powerful capacity, LLM-based agent shows great potential to replace traditional online A/B testing. Nonetheless, current agents fail to simulate the perception process and interaction patterns, due to the lack of real environments and visual perception capability. To address these challenges, we introduce a multi-modal user agent for A/B testing (A/B Agent). Specifically, we construct a recommendation sandbox environment for A/B testing, enabling multimodal and multi-page interactions that align with real user behavior on online platforms. The designed agent leverages multimodal information perception, fine-grained user preferences, and integrates profiles, action memory retrieval, and a fatigue system to simulate complex human decision-making. We validated the potential of the agent as an alternative to traditional A/B testing from three perspectives: model, data, and features. Furthermore, we found that the data generated by A/B Agent can effectively enhance the capabilities of recommendation models. Our code is publicly available at https://github.com/Applied-Machine-Learning-Lab/ABAgent.

cs.IR↗

arXiv2026

SentGraph: Hierarchical Sentence Graph for Multi-hop Retrieval-Augmented Question Answering

Traditional Retrieval-Augmented Generation (RAG) effectively supports single-hop question answering with large language models but faces significant limitations in multi-hop question answering tasks, which require combining evidence from multiple documents. Existing chunk-based retrieval often provides irrelevant and logically incoherent context, leading to incomplete evidence chains and incorrect reasoning during answer generation. To address these challenges, we propose SentGraph, a sentence-level graph-based RAG framework that explicitly models fine-grained logical relationships between sentences for multi-hop question answering. Specifically, we construct a hierarchical sentence graph offline by first adapting Rhetorical Structure Theory to distinguish nucleus and satellite sentences, and then organizing them into topic-level subgraphs with cross-document entity bridges. During online retrieval, SentGraph performs graph-guided evidence selection and path expansion to retrieve fine-grained sentence-level evidence. Extensive experiments on four multi-hop question answering benchmarks demonstrate the effectiveness of SentGraph, validating the importance of explicitly modeling sentence-level logical dependencies for multi-hop reasoning.

cs.CL↗

arXiv2025

Cyber Threat Detection Enabled by Quantum Computing

Threat detection models in cybersecurity must keep up with shifting traffic, strict feature budgets, and noisy hardware, yet even strong classical systems still miss rare or borderline attacks when the data distribution drifts. Small, near-term quantum processors are now available, but existing work rarely shows whether quantum components can improve end-to-end detection under these unstable, resource constrained conditions rather than just adding complexity. We address this gap with a hybrid architecture that uses a compact multilayer perceptron to compress security data and then routes a few features to 2-4 qubit quantum heads implemented as quantum support vector machines and variational circuits. Under matched preprocessing and training budgets, we benchmark these hybrids against tuned classical baselines on two security tasks, network intrusion detection on NSL-KDD and spam filtering on Ling-Spam datasets, and then deploy the best 4-qubit quantum SVM to an IBM Quantum device with noise-aware execution (readout mitigation and dynamical decoupling). Across both datasets, shallow quantum heads consistently match, and on difficult near-boundary cases modestly reduce, missed attacks and false alarms relative to classical models using the same features. Hardware results track simulator behavior closely enough that the remaining gap is dominated by device noise rather than model design. Taken together, the study shows that even on small, noisy chips, carefully engineered quantum components can already function as competitive, budget-aware elements in practical threat detection pipelines.

quant-ph↗

arXiv2025

Lumine: An Open Recipe for Building Generalist Agents in 3D Open Worlds

We introduce Lumine, the first open recipe for developing generalist agents capable of completing hours-long complex missions in real time within challenging 3D open-world environments. Lumine adopts a human-like interaction paradigm that unifies perception, reasoning, and action in an end-to-end manner, powered by a vision-language model. It processes raw pixels at 5 Hz to produce precise 30 Hz keyboard-mouse actions and adaptively invokes reasoning only when necessary. Trained in Genshin Impact, Lumine successfully completes the entire five-hour Mondstadt main storyline on par with human-level efficiency and follows natural language instructions to perform a broad spectrum of tasks in both 3D open-world exploration and 2D GUI manipulation across collection, combat, puzzle-solving, and NPC interaction. In addition to its in-domain performance, Lumine demonstrates strong zero-shot cross-game generalization. Without any fine-tuning, it accomplishes 100-minute missions in Wuthering Waves and the full five-hour first chapter of Honkai: Star Rail. These promising results highlight Lumine's effectiveness across distinct worlds and interaction dynamics, marking a concrete step toward generalist agents in open-ended environments.

cs.AI↗

arXiv2025

Game-TARS: Pretrained Foundation Models for Scalable Generalist Multimodal Game Agents

We present Game-TARS, a generalist game agent trained with a unified, scalable action space anchored to human-aligned native keyboard-mouse inputs. Unlike API- or GUI-based approaches, this paradigm enables large-scale continual pre-training across heterogeneous domains, including OS, web, and simulation games. Game-TARS is pre-trained on over 500B tokens with diverse trajectories and multimodal data. Key techniques include a decaying continual loss to reduce causal confusion and an efficient Sparse-Thinking strategy that balances reasoning depth and inference cost. Experiments show that Game-TARS achieves about 2 times the success rate over the previous sota model on open-world Minecraft tasks, is close to the generality of fresh humans in unseen web 3d games, and outperforms GPT-5, Gemini-2.5-Pro, and Claude-4-Sonnet in FPS benchmarks. Scaling results on training-time and test-time confirm that the unified action space sustains improvements when scaled to cross-game and multimodal data. Our results demonstrate that simple, scalable action representations combined with large-scale pre-training provide a promising path toward generalist agents with broad computer-use abilities.

cs.AI↗

arXiv2025

ATGen: Adversarial Reinforcement Learning for Test Case Generation

Large Language Models (LLMs) excel at code generation, yet their outputs often contain subtle bugs, for which effective test cases are a critical bottleneck. Existing test generation methods, whether based on prompting or supervised fine-tuning, rely on static datasets. This imposes a ``fixed-difficulty ceiling'', fundamentally limiting their ability to uncover novel or more complex bugs beyond their training scope. To overcome this, we introduce ATGen, a framework that trains a test case generator via adversarial reinforcement learning. ATGen pits a test generator against an adversarial code generator that continuously crafts harder bugs to evade the current policy. This dynamic loop creates a curriculum of increasing difficulty challenging current policy. The test generator is optimized via Reinforcement Learning (RL) to jointly maximize ``Output Accuracy'' and ``Attack Success'', enabling it to learn a progressively stronger policy that breaks the fixed-difficulty ceiling of static training. Extensive experiments demonstrate that ATGen significantly outperforms state-of-the-art baselines. We further validate its practical utility, showing it serves as both a more effective filter for Best-of-N inference and a higher-quality reward source for training code generation models. Our work establishes a new, dynamic paradigm for improving the reliability of LLM-generated code.

cs.SE↗

arXiv2025

MTRec: Learning to Align with User Preferences via Mental Reward Models

Recommendation models are predominantly trained using implicit user feedback, since explicit feedback is often costly to obtain. However, implicit feedback, such as clicks, does not always reflect users' real preferences. For example, a user might click on a news article because of its attractive headline, but end up feeling uncomfortable after reading the content. In the absence of explicit feedback, such erroneous implicit signals may severely mislead recommender systems. In this paper, we propose MTRec, a novel sequential recommendation framework designed to align with real user preferences by uncovering their internal satisfaction on recommended items. Specifically, we introduce a mental reward model to quantify user satisfaction and propose a distributional inverse reinforcement learning approach to learn it. The learned mental reward model is then used to guide recommendation models to better align with users' real preferences. Our experiments show that MTRec brings significant improvements to a variety of recommendation models. We also deploy MTRec on an industrial short video platform and observe a 7 percent increase in average user viewing time.

cs.IR↗

arXiv2025

A Dynamic Service Offloading Algorithm Based on Lyapunov Optimization in Edge Computing

This study investigates the trade-off between system stability and offloading cost in collaborative edge computing. While collaborative offloading among multiple edge servers enhances resource utilization, existing methods often overlook the role of queue stability in overall system performance. To address this, a multi-hop data transmission model is developed, along with a cost model that captures both energy consumption and delay. A time-varying queue model is then introduced to maintain system stability. Based on Lyapunov optimization, a dynamic offloading algorithm (LDSO) is proposed to minimize offloading cost while ensuring long-term stability. Theoretical analysis and experimental results verify that the proposed LDSO achieves significant improvements in both cost efficiency and system stability compared to the state-of-the-art.

cs.NI↗

arXiv2025

MCPTox: A Benchmark for Tool Poisoning Attack on Real-World MCP Servers

By providing a standardized interface for LLM agents to interact with external tools, the Model Context Protocol (MCP) is quickly becoming a cornerstone of the modern autonomous agent ecosystem. However, it creates novel attack surfaces due to untrusted external tools. While prior work has focused on attacks injected through external tool outputs, we investigate a more fundamental vulnerability: Tool Poisoning, where malicious instructions are embedded within a tool's metadata without execution. To date, this threat has been primarily demonstrated through isolated cases, lacking a systematic, large-scale evaluation. We introduce MCPTox, the first benchmark to systematically evaluate agent robustness against Tool Poisoning in realistic MCP settings. MCPTox is constructed upon 45 live, real-world MCP servers and 353 authentic tools. To achieve this, we design three distinct attack templates to generate a comprehensive suite of 1312 malicious test cases by few-shot learning, covering 10 categories of potential risks. Our evaluation on 20 prominent LLM agents setting reveals a widespread vulnerability to Tool Poisoning, with o1-mini, achieving an attack success rate of 72.8\%. We find that more capable models are often more susceptible, as the attack exploits their superior instruction-following abilities. Finally, the failure case analysis reveals that agents rarely refuse these attacks, with the highest refused rate (Claude-3.7-Sonnet) less than 3\%, demonstrating that existing safety alignment is ineffective against malicious actions that use legitimate tools for unauthorized operation. Our findings create a crucial empirical baseline for understanding and mitigating this widespread threat, and we release MCPTox for the development of verifiably safer AI agents. Our dataset is available at an anonymized repository: \textit{https://anonymous.4open.science/r/AAAI26-7C02}.

cs.CR↗

arXiv2025

Humanity's Last Code Exam: Can Advanced LLMs Conquer Human's Hardest Code Competition?

Code generation is a core capability of large language models (LLMs), yet mainstream benchmarks (e.g., APPs and LiveCodeBench) contain questions with medium-level difficulty and pose no challenge to advanced LLMs. To better reflected the advanced reasoning and code generation ability, We introduce Humanity's Last Code Exam (HLCE), comprising 235 most challenging problems from the International Collegiate Programming Contest (ICPC World Finals) and the International Olympiad in Informatics (IOI) spanning 2010 - 2024. As part of HLCE, we design a harmonized online-offline sandbox that guarantees fully reproducible evaluation. Through our comprehensive evaluation, we observe that even the strongest reasoning LLMs: o4-mini(high) and Gemini-2.5 Pro, achieve pass@1 rates of only 15.9% and 11.4%, respectively. Meanwhile, we propose a novel "self-recognition" task to measure LLMs' awareness of their own capabilities. Results indicate that LLMs' self-recognition abilities are not proportionally correlated with their code generation performance. Finally, our empirical validation of test-time scaling laws reveals that current advanced LLMs have substantial room for improvement on complex programming tasks. We expect HLCE to become a milestone challenge for code generation and to catalyze advances in high-performance reasoning and human-AI collaborative programming. Our code and dataset are also public available(https://github.com/Humanity-s-Last-Code-Exam/HLCE).

cs.SE↗